Description of Files:
---------------------

scan_0_???.3d contains the data points for a single 3D scan. The x,y,z
coordinate are given in a right hand side coordinate system, followed
by an entry determining the type of the point. Please use the
following constants for the types:

/** define invalid type */
#define TYPE_INVALID 0x10
#define TYPE_UNKNOWN            0x0000
#define TYPE_OBJECT             0x0001
#define TYPE_GROUND             0x0002  // 3d scan
#define TYPE_CEILING            0x0003  // 3d scan
#define TYPE_LANDMARK           0x0001  // 2d scan
#define TYPE_OBSTACLE           0x0002  // 2d scan


Initial pose estimates are given in the file odometry_0_sync_interpol.dat.
It contains in every line corresponding to the 3D scans the timestamp,
x,y,z and \theta_x,\theta_y,\theta_y, values.